Link 1, rotating about fixed axis A, is connected by turning pair C to link 2. Link 2 is connected by spherical pair D to link 3 and by a five-motion kinematic pair to link 4. This pair consists of spherical surface a of link 4 which contacts flat surface b of link 2. Link 3 is connected by cylindrical turning and sliding pair E to link 4 which rotates about fixed axis B. The mechanism transmits rotation between any two arbitrarily located axes A and B.
$587$LW,5L$